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Judge David Hurd said once the estate of Ward had been finalized, the charges against Stewart would be dismissed.

Ward, who was 20 at the time of his death, walked out onto the track to confront Stewart after a wreck at Canandaigua Motorsports Park in upstate New York on Aug. 9, 2014. Stewart hit him with his car, and Ward later died of blunt force trauma.

According to the report, the grand jury heard testimony from both sides and ultimately decided not to bring charges against Stewart. However, to avoid trial, he still decided to settle with the family and wrap up the civil trial process.

After the incident, Stewart called the accident "one of the toughest tragedies I have ever had to deal with " and added "this is something that will definitely affect my life forever.